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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Le Zhang Yuan-Wei Jing Rong-Zhen Chen Honghai Liu Georgi M. Dimirovski Control Science Institute of the School of Information Science and Engineering Northeastern University Shenyang China Institute of Industrial Research University of Portsmouth Portsmouth UK SS Cyril and Methodius Faculty of Electrical & Computer Engineering University of Skopje Skopje Macedonia Computer Eng. Department Dogus University Istanbul Turkey

The investigated control problem of nonlinear time-delay discrete-time systems is addressed using Takagi-Sugeno model. Parametric uncertainty and time-delay terms are employed in building the Takagi-Sugeno model for the controlled plant for the purpose of close representation of the original plant system. The integrity and robustness are guaranteed for the closed-loop fuzzy system in sense of Lyapunov stability method via fuzzy state observers. Sufficient conditions for the fuzzy system to possess integrity against actuator failures and sensor failures in the closed-loop are derived in terms of linear matrix inequalities under assumption of known bounds on uncertainties. The results for trailer-truck example are used to illustrate the effectiveness of the method.

关键词： Fault tolerant systems Fuzzy systems Takagi-Sugeno model Uncertainty Nonlinear control systems Robust stability Lyapunov method Sufficient conditions Hydraulic actuators Sensor systems

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Stabilization control for a Class of Switched Fuzzy Discrete-Time Systems

Stabilization Control for a Class of Switched Fuzzy Discrete...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Hong Yang Honghai Liu Georgi M. Dimirovski Jun Zhao Control Science Institute of the School of Information and Engineering Northeastern University Shenyang Liaoning China Institute of Industrial Research University of Portsmouth Portsmouth UK Department of Computer Engineering of the Faculty of Engineering Dogus University Istanbul Turkey

Stability issues for switched systems whose subsystems are all Sugeno fuzzy discrete-time systems are studied and new stabilization control results derived. Innovated representation models for switched fuzzy systems are proposed. The single Lyapunov function method has been adopted to study the stability of this class of switched fuzzy systems. Sufficient conditions for quadratic asymptotic stability are presented and stabilizing switching laws of the state-dependent form employed in PDC scheme are designed. Illustrative examples demonstrate the effectiveness and the feasible performance of the proposed synthesis through the respective simulation results.

关键词： control systems Fuzzy control Fuzzy systems Switched systems Sliding mode control Lyapunov method Asymptotic stability control system synthesis Optimal control Sufficient conditions

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Target shape design optimization by evolving splines

Target shape design optimization by evolving splines

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Congress on Evolutionary Computation

作者： Pan Zhang Xin Yao Lei Jia B. Sendhoff T. Schnier School of Control Science and Engineering Shandong University Shandong China Centre of Excellence for Research in Computational Intelligence and Applications School of Computer Science University of Binningham Birmingham UK Shandong University China Honda Research Institute Europe GmbH Germany CERCIA UK

Target shape design optimization problem (TS-DOP) is a miniature model for real world design optimization problems. It is proposed as a test bed to design and analyze optimization approaches for design optimization with tremendously reducing the running period of optimization process, while, the merit can be only achieved by correctly approximating the real design situation and satisfying the causality of design and evaluation. The representation of the designed object is mostly described by parameterization techniques. To realize the design optimization, is to vary the parameterized object by means of operating the relevant parameters. The solution of design optimization often involved the choice of suitable description for the designed object, which can be obtained by expanding the design freedom. When changing the description length, the original parameters of the designed object will then varied. This bring about the requirements for optimization algorithms to self-adapt their strategy parameters and related variables to perform consistently searching. We first put forwards a revised fitness evaluation mechanism for the TSDOP in order to more reasonably check the designed shape and direct optimization procedures. Based on the revised TSDOP framework, we further discuss the parameter setting problem for algorithms, especially evolution strategies, to adapt and initial their search strategy parameters. A solution method is proposed with solving a linear equations by a recursive way with linear time complexity. All discussions are limited with the B-spline parameterization framework, but may generally suit other parameterization techniques. Experiments are used to verify the causality of the revised fitness evaluation mechanism and to study the significance of the proposed method for suitable parameter settings of optimization algorithms during the adaptation of the description length for design optimization.

关键词： Design optimization Testing Shape measurement Topology Shape control Evolutionary computation Aerodynamics Computational fluid dynamics Electronic switching systems Equations

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Experimental verifications on control and sensing of bucky gel actuator/sensor

Experimental verifications on control and sensing of bucky g...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-mimetic Control Research Center (BMC) The Institute of Physical and Chemical Research (RIKEN) Nagoya Japan Department of Robots and Mechatronics School of Future Science Tokyo Denki University Tokyo Japan BMC RIKEN Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Tokyo Japan BMC RIKEN Research Institute for Cell Engineering National Institute of Advanced Industrial Science and Technology (AIST) Odaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Since sensor and actuator functions exist in a same device, flexible and miniature integrated actuator-sensor systems for soft robotics can be constructed easily. In this study, we conduct some experiments to verify the possibility of the bucky gel actuator/sensor. Feedback controls of the actuator are demonstrated and the characteristics of the sensor are investigated. By utilizing both functions of the actuator and the sensor, feedback control based on the sensor signal is demonstrated.

关键词： Actuators Sensor phenomena and characterization Polymer gels Feedback control Electrodes Casting Shape Force sensors Sensor systems Robot sensing systems

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Implementation of an embedded omni-directional mobile robot with active caster wheels

Implementation of an embedded omni-directional mobile robot ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Eui-jung Jung Jae Heon Chung Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Ubiquitous Functions Research Group National Institute for Advanced Industrial Science and Technology Japan Department of Control and Instrumentation Engineering Korea University South Korea

This work deals with a motion planning algorithm of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. This is due to mismatching between the command and the mechanical hardware. To cope with this problem, a motion planning algorithm pursuing the natural configuration of the mobile wheel was mainly investigated, which resolves the skidding problem and uncertain motions of the steering wheel. Through simulations and experimentation, the feasibility of this algorithm was verified.

关键词： Mobile robots Wheels Kinematics computer science Motion planning Motion control Roads Intelligent robots USA Councils

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World-wide lightning location using VLF propagation in the earth-ionosphere waveguide

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URSI Radio science Bulletin 2008年第327期2008卷 39-53页

作者： Richard L. Dowden James B. Brundell Robert H. Holzworth Abram R. Jacobson Erin Lay Craig J. Rodger Neil R. Thomson Jádnos Lichtenberger Thomas J. Lyons Steven O'Keefe Zen Kawasaki Colin Price Victor Prior Pascal Ortéga James Weinman Yuri Mikhailov Oscar Veliz Xiushu Qie Gary Burns Andrew Collier Osmar Pinto Ricardo Diaz Claudia Adamo Earle R. Williams Sushil Kumar G. B. Raga Jose M. Rosado Eldo E. Avila Mark A. Clilverd Thomas Ulich Peter Gorham Thomas J. G. Shanahan Thomas Osipowicz Gregory Cook Yang Zhao Low Frequency Electromagnetic Research Ltd. 161 Pine Hill Road Dunedin 9010 NZ Dept of Earth and Space Sciences University of Washington Box 351310 Seattle WA 98195-1310 USA Physics Department University of Otago PO Box 56 Dunedin NZ Eötvös Lorand University Space Research Group Pazmany Peter s. I./A. H-1117 Budapest Hungary Environmental Science Murdoch University Murdoch WA 6150 Australia School of Engineering Griffith University Nathan QLD 4111 Australia Department of Electrical Electronics and Information Engineering Faculty of Engineering Osaka University Yamada-Oaka2-1 Suita Osaka 565-0871 Japan Department of Geophysics & Planetary Sciences Tel Aviv University Ramat Aviv 69978 Israel Instituto de Meteorologia Rua Cao Aeroporto 1749-077 Lisboa Portugal University of French Polynesia BP 6570 98 702 Faaa Centre French Polynesia ATG Building University of Washington Box 351640 Seattle WA 98195-1640 USA IZMIRAN Troitsk Moscow Region 142190 Russia Institute Geofsico del Peru Calle Badajoz No. 169 Urb. Mayorazgo IV Etapa Ate Vitarte Lima 03 Peru Lab. for Middle Atmosphere and Global Environment Observation (LAGEO) Institute of Atmospheric Physics Chinese Academy of Sciences Beijing 100029 China (CIE) Ice Ocean Atmosphere & Climate Australian Antarctic Division 203 Channel Highway Kingston Tasmania 7050 Australia Hermanus Magnetic Observatory PO Box 32 Hermanus 7200 South Africa Chefe do Grupo de Eletricidade Atmosférica (ELAT) DGE/INPE Av. Astronautas 1758 S.J. Campos SP 12240-540 Brazil Laboratorio Alta Tension Universidad Nacional Tucuman Av. Independencia 1800-(4000) S.M. de Tucuman Argentina Institute of Atmospheric Sciences and Climate ISAC-CNR Area di Ricerca di Tor Vergata Via del Fosso del Cavaliere 100 00133 Roma Italy Massachusetts Institute of Technology Parsons Lab Rm. 48-319 Cambridge MA 02139-4307 USA Physics Department University of the South Pacific Suva Fiji Centro de Ciencias de la Atmosfera Universidad Nacio

Worldwide lightning location (WWLL) using only 30 lightning sensors has been successfully achieved by using only VLF propagation in the Earth-ionosphere waveguide (EIWG). Ground propagation or mixed “sky” and ground propagation is avoided by requiring evidence of Earth-ionosphere waveguide dispersion. A further requirement is that the lightning strike must be inside the perimeter defined by the lightning sensor sites detecting the stroke. Under these conditions, the time and the location of the stroke can be determined, along with the rms errors. Lightning strokes with errors exceeding 30 ps or 10 km are rejected. To assist with identifying impulses from the same lightning stroke, the lightning sensor threshold is automatically adjusted to allow an average detection rate of three per second. This largely limits detection to the strongest 4% of all lightning strokes, of which about 40% meet the accuracy requirements for time and location.

关键词： Lightning Electronic mail Electric fields Antennas Sensors Buildings Australia

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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Filtering of discrete linear repetitive processes with ∞ and 2-∞ performance

Filtering of discrete linear repetitive processes with ∞ an...

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2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

作者： Ligang, Wu Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an ∞ and 2-∞ dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by ∞ and 2- ∞ norms. © 2007 IEEE.

关键词： Signal filtering and prediction

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control of Discrete Linear Repetitive Processes with H and l2 - l Performance

Control of Discrete Linear Repetitive Processes with H and l...

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American control Conference (ACC)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Galkowski Eric Rogers Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China Department of Mechanical Engineering University of Hong Kong Hong Kong China Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK

This paper considers the control of discrete linear repetitive processes, which are a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, which are of both system-theoretic and applications interest. In this paper we report new results on the design of control laws with guaranteed levels of performance. In particular, develop algorithms for the design of an H infin and lscr 2 - lscr infin dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by H infin and lscr 2 - lscr infin norms.

关键词： control systems Linear systems Algorithm design and analysis Space technology Iterative algorithms Process control Optimal control Stability analysis Convergence Cities and towns

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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